/*******************************************************************************
  * @file                   stepper_s.1.c
  * @Author:                MQjehovah                 mail:MQjehovah@hotmail.com
  * @version                1.0.0
  * @date                   2018-02-28 14:15:45
  * @brief                  
  ******************************************************************************
  * @attention
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stepper.h"
/* Definition ----------------------------------------------------------------*/
STEPPER motor;
STEPPER *pmotor = &motor;
/* Functions -----------------------------------------------------------------*/
/*******************************************************************************
  * @brief  步进电机GPIO口初始化              
  * @param  None                   
  * @retval None                   
  * @Note   用户自己实现                   
*******************************************************************************/
void Motor_GPIO_Init(void)
{
    // GPIO_InitTypeDef GPIO_InitStructure;
    // RCC_APB2PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

    // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4;
    // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    // GPIO_Init(GPIOA, &GPIO_InitStructure);
    // GPIO_ResetBits(GPIOA, GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4);
}

#if ADV_TIM_ENABLE
/*******************************************************************************
  * @brief  高级定时器驱动S型电机驱动              
  * @param  None                   
  * @retval None                   
  * @Note   使用高级定时器1，使用TIM_RepetitionCounter参数跳过细分中断
            减少中断的次数       
*******************************************************************************/
void Initial_PWM_Motor1(void)
{
    TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
    Motor_GPIO_Init();
    TIM_DeInit(TIM1);
    //中断NVIC设置：允许中断，设置优先级
    NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PWM1_PreemptionPriority;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = PWM1_SubPriority;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
    TIM_BaseInitStructure.TIM_Period = 1000;
    TIM_BaseInitStructure.TIM_Prescaler = 5;
    TIM_BaseInitStructure.TIM_ClockDivision = 0;
    TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_BaseInitStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM1, &TIM_BaseInitStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;               //PWM2模式
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   //信号输出到对应的输出引脚
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //互补信号输出到对应的输出引脚
    TIM_OCInitStructure.TIM_Pulse = 50;                             //脉冲宽度
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;        //互补输出高电平有效
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;     //互补输出高电平有效
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;    //输出空闲状态为1
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;   //互补输出空闲状态为0
    TIM_OC1Init(TIM1, &TIM_OCInitStructure);                        //OC1通道初始化

    TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM1, ENABLE);

    //清中断，以免一启用中断后立即产生中断
    TIM_ClearFlag(TIM1, TIM_FLAG_Update);
    //使能TIM1中断源
    TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM1, DISABLE);
    TIM_CtrlPWMOutputs(TIM1, ENABLE); //使能PWM输出
}
#endif

/*******************************************************************************
  * @brief  电机驱动定时器初始化              
  * @param  None                   
  * @retval None                   
  * @Note   使用定时器TIM2，输出PWM，每次脉冲进入中断                
*******************************************************************************/
void Motor_PWM_Init(void)
{
    TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    Motor_GPIO_Init();
    TIM_DeInit(TIM2);
    //中断NVIC设置：允许中断，设置优先级
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;           //更新事件 	TIM2_IRQHandler
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;        //响应优先级1
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;           //允许中断
    NVIC_Init(&NVIC_InitStructure);
    TIM_BaseInitStructure.TIM_Period = 1000;
    TIM_BaseInitStructure.TIM_Prescaler = 5;
    TIM_BaseInitStructure.TIM_ClockDivision = 0;
    TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_BaseInitStructure.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(TIM2, &TIM_BaseInitStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;               //PWM2模式
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;   //信号输出到对应的输出引脚
    TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //互补信号输出到对应的输出引脚
    TIM_OCInitStructure.TIM_Pulse = 500;                            //脉冲宽度
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;        //互补输出高电平有效
    TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;     //互补输出高电平有效
    TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;    //输出空闲状态为1
    TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;   //互补输出空闲状态为0
    TIM_OC1Init(TIM2, &TIM_OCInitStructure);                        //OC1通道初始化

    TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
    TIM_ARRPreloadConfig(TIM2, ENABLE);
    //清中断，以免一启用中断后立即产生中断
    TIM_ClearFlag(TIM2, TIM_FLAG_Update);
    //使能TIM1中断源
    TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM2, DISABLE);
    //TIM_CtrlPWMOutputs(TIM2,ENABLE); //使能PWM输出
}

/*******************************************************************************
  * @brief  计算S型曲线表              
  * @param  None                   
  * @retval None                   
  * @Note   None                   
*******************************************************************************/
void Calculate_S_Table(void)
{
}

/*******************************************************************************
  * @brief  电机初始化函数              
  * @param  None                   
  * @retval None                   
  * @Note   None                   
*******************************************************************************/
void MOTOR_Init(void)
{
    Motor_PWM_Init(); //初始化电机驱动PWM
    /* 初始化电机参数 */
}

/*******************************************************************************
  * @brief  定时器2中断函数              
  * @param  None                   
  * @retval None                   
  * @Note   None                   
*******************************************************************************/
void TIM2_IRQHandler(void)
{
    TIM2->SR = (u16)~TIM_FLAG_Update;
    if (1 == pmotor->en)
    {
        //位置计算
        if (pmotor->dir_pos == pmotor->dir)
        {
            pmotor->current_puase++;
        }
        else
        {
            pmotor->current_puase--;
        }
        pmotor->current_step = pmotor->current_puase / pmotor->div;

        pmotor->passed_puase++; //总脉冲个数
        pmotor->f_puase++;      //以该频率脉冲输出的脉冲个数

        //对称反转？？？
        // if (pmotor->RevetDot == pmotor->PulsesHaven)
        // {
        //     pmotor->pulsecount = pmotor->Step_Table[pmotor->CurrentIndex];
        // }
        if (pmotor->f_puase >= pmotor->table_step[pmotor->f_index]) //一个频率的步数走完
        {
            if (pmotor->passed_puase <= pmotor->start_step) //如果是起步阶段
            {
                if (pmotor->f_index < pmotor->start_f - 1)
                {
                    pmotor->f_index++; //进入下一个频率阶段
                    pmotor->f_puase = 0;
                    if (pmotor->f_index >= pmotor->start_f) //启动阶段的步数没有走完，禁止进入下一阶段的频率
                        pmotor->f_index = pmotor->start_f;
                }
            }
            if (pmotor->target_puase - pmotor->passed_puase <= pmotor->stop_step) //停止阶段
            {
                // if (pmotor->f_index < pmotor->StartTableLength - 1)
                // {
                //     pmotor->f_index = pmotor->StartTableLength + pmotor->StopTableLength - pmotor->CurrentIndex;
                // }
                // pmotor->f_index++;
                // pmotor->f_puase = 0;
                // if (pmotor->f_index >= pmotor->StartTableLength + pmotor->StopTableLength)
                //     pmotor->CurrentIndex = pmotor->StartTableLength + pmotor->StopTableLength - 1;
            }
            pmotor->TIMx->ARR = pmotor->table_time[pmotor->f_index];         //设置周期
            pmotor->TIMx->CCR1 = (pmotor->table_time[pmotor->f_index]) >> 1; //设置占空比
        }
        //旋转预定脉冲数，停止，running=0，可以进行下一次旋转
        if (pmotor->passed_puase >= pmotor->target_puase && pmotor->passed_puase > 3)
        {
            pmotor->en = 0;
            pmotor->running = 0;
            pmotor->f_index = 0;
            TIM_Cmd(pmotor->TIMx, DISABLE); //DISABLE
        }
    }
}

/*********************************END OF FILE**********************************/